93 lines
1.5 KiB
Plaintext
93 lines
1.5 KiB
Plaintext
QGC WPL PB 110
|
|
defaults {
|
|
# Default coordinate frame for this mission.
|
|
frame: FRAME_GLOBAL_RELATIVE_ALT
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_WAYPOINT
|
|
x: -35.362881
|
|
y: 149.165222
|
|
z: 582.0
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_TAKEOFF
|
|
x: -35.362881
|
|
y: 149.165222
|
|
z: 20.0
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_WAYPOINT
|
|
param2: 3.0 # Hit radius
|
|
x: -35.363949
|
|
y: 149.164151
|
|
z: 20.0
|
|
}
|
|
waypoint {
|
|
command: CMD_CONDITION_YAW
|
|
param1: 640.0 # Target angle
|
|
param2: 20.0 # Degrees / second
|
|
param3: 1.0 # Clockwise
|
|
param4: 1.0 # target angle is delta
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_LOITER_TIME
|
|
param1: 35.0 # Seconds
|
|
param4: 1.0 # Desired yaw
|
|
x: 0.0
|
|
y: 0.0
|
|
z: 20.0
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_WAYPOINT
|
|
param2: 3.0 # Hit radius
|
|
x: -35.363287
|
|
y: 149.164958
|
|
z: 20.0
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_LOITER_TURNS
|
|
param1: 18.0
|
|
param2: 2.0 # Turns
|
|
z: 20.0
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_WAYPOINT
|
|
param2: 3.0 # Hit radius
|
|
x: -35.364865
|
|
y: 149.164952
|
|
z: 20.0
|
|
}
|
|
waypoint {
|
|
command: CMD_CONDITION_DISTANCE
|
|
param1: 100.0 # Distance (meters)
|
|
}
|
|
waypoint {
|
|
command: CMD_CONDITION_CHANGE_ALT
|
|
z: 40.0 # Finish altitude
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_WAYPOINT
|
|
param2: 3.0 # Hit radius
|
|
x: -35.363165
|
|
y: 149.163905
|
|
z: 20.0
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_WAYPOINT
|
|
param2: 3.0 # Hit radius
|
|
x: -35.363611
|
|
y: 149.163583
|
|
z: 20.0
|
|
}
|
|
waypoint {
|
|
command: CMD_DO_JUMP
|
|
param1: 11.0 # Sequence number
|
|
param2: 3.0 # Repeat count
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_RETURN_TO_LAUNCH
|
|
}
|
|
waypoint {
|
|
command: CMD_NAV_LAND
|
|
}
|